def drive(self, carstate: State) -> Command:
print('Drive')
input = carstate.to_input_array()
if np.isnan(input).any():
if not self.stopped:
self.saveResults()
print(input)
print('NaN INPUTS!!! STOP WORKING')
return Command()
self.stopped = np.isnan(input).any()
self.print_log(carstate)
self.update(carstate)
try:
output = self.net.activate(input)
command = Command()
if self.unstuck and self.isStuck(carstate):
print('Ops! I got STUCK!!!')
self.reverse(carstate, command)
else:
if self.unstuck and carstate.gear <= 0:
carstate.gear = 1
for i in range(len(output)):
if np.isnan(output[i]):
output[i] = 0.0
print('Out = ' + str(output))
self.accelerate(output[0], output[1], 0, carstate, command)
if len(output) == 3:
# use this if the steering is just one output
self.steer(output[2], 0, carstate, command)
else:
# use this command if there are 2 steering outputs
self.steer(output[2], output[3], carstate, command)
except:
print('Error!')
self.saveResults()
raise
if self.data_logger:
self.data_logger.log(carstate, command)
return command
def drive(self, carstate: State) -> Command:
"""
Produces driving command in response to newly received car state.
This is a dummy driving routine, very dumb and not really considering a
lot of inputs. But it will get the car (if not disturbed by other
drivers) successfully driven along the race track.
"""
print('Drive')
input = carstate.to_input_array()
self.distance = carstate.distance_raced
if self.curr_time > carstate.current_lap_time:
self.time += carstate.last_lap_time
self.curr_time = carstate.current_lap_time
try:
output = self.model.step(input)
for i in range(len(output)):
output[i] = max(0, output[i])
print('Out = ' + str(output))
command = Command()
self.accelerate(output[0], output[1], carstate, command)
self.steer(output[2], output[3], carstate, command)
# self.steer(carstate, 0.0, command)
#
# v_x = min(output[0], 300)
#
# self.accelerate(carstate, v_x, command)
except OverflowError as err:
print('--------- OVERFLOW! ---------')
self.saveResults()
raise err
if self.data_logger:
self.data_logger.log(carstate, command)
return command